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<div class="title">global_nn_classifier.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * global.h</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Created on: Mar 9, 2012</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *      Author: aitor</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#ifndef REC_FRAMEWORK_GLOBAL_PIPELINE_H_</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#define REC_FRAMEWORK_GLOBAL_PIPELINE_H_</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;flann/flann.h&gt;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2common_8h.html">pcl/common/common.h</a>&gt;</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;pcl/apps/3d_rec_framework/pc_source/source.h&gt;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;pcl/apps/3d_rec_framework/feature_wrapper/global/global_estimator.h&gt;</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;{</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <span class="keyword">namespace </span>rec_3d_framework</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  {</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160; </div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_global_classifier.html">   22</a></span>&#160;    <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_classifier.html">GlobalClassifier</a> {</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::Ptr PointInTPtr;</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160; </div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;      setNN (<span class="keywordtype">int</span> nn) = 0;</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160; </div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;      getCategory (std::vector&lt;std::string&gt; &amp; categories) = 0;</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160; </div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;      getConfidence (std::vector&lt;float&gt; &amp; conf) = 0;</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;      classify () = 0;</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;      setIndices (std::vector&lt;int&gt; &amp; indices) = 0;</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;      setInputCloud (<span class="keyword">const</span> PointInTPtr &amp; cloud) = 0;</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    };</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">template</span>&lt;<span class="keyword">class</span> &gt; <span class="keyword">class </span>Distance, <span class="keyword">typename</span> PointInT, <span class="keyword">typename</span> FeatureT&gt;</div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html">   55</a></span>&#160;      <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html">GlobalNNPipeline</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_classifier.html">pcl::rec_3d_framework::GlobalClassifier</a>&lt;PointInT&gt;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      {</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="structpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline_1_1index__score.html">   60</a></span>&#160;        <span class="keyword">struct </span><a class="code" href="structpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline_1_1index__score.html">index_score</a></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        {</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;          <span class="keywordtype">int</span> idx_models_;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;          <span class="keywordtype">int</span> idx_input_;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;          <span class="keywordtype">double</span> score_;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        };</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="structpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline_1_1sort_index_scores.html">   67</a></span>&#160;        <span class="keyword">struct </span><a class="code" href="structpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline_1_1sort_index_scores.html">sortIndexScores</a></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        {</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;          <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;          operator() (<span class="keyword">const</span> <a class="code" href="structpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline_1_1index__score.html">index_score</a>&amp; d1, <span class="keyword">const</span> <a class="code" href="structpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline_1_1index__score.html">index_score</a>&amp; d2)</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;          {</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;            <span class="keywordflow">return</span> d1.score_ &lt; d2.score_;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;          }</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        } sortIndexScoresOp;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::Ptr PointInTPtr;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        <span class="keyword">typedef</span> Distance&lt;float&gt; DistT;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_model.html">Model&lt;PointInT&gt;</a> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_model.html">ModelT</a>;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#a5866361f600831b47925886546caaa50">   81</a></span>&#160;        std::string <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#a5866361f600831b47925886546caaa50">training_dir_</a>;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#af742fca9bd7da943d42416549f37fbd5">   84</a></span>&#160;        PointInTPtr <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#af742fca9bd7da943d42416549f37fbd5">input_</a>;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#aa54cab49da4a1b5e563cc60985e2591d">   87</a></span>&#160;        <span class="keyword">typename</span> boost::shared_ptr&lt;pcl::rec_3d_framework::Source&lt;PointInT&gt; &gt; <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#aa54cab49da4a1b5e563cc60985e2591d">source_</a>;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#a40bbef0581e8fadf85f57c34a4c77e82">   90</a></span>&#160;        <span class="keyword">typename</span> boost::shared_ptr&lt;GlobalEstimator&lt;PointInT, FeatureT&gt; &gt; <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#a40bbef0581e8fadf85f57c34a4c77e82">estimator_</a>;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#aba32b90d213023f7afbfdc0cb556f4a8">   93</a></span>&#160;        std::string <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#aba32b90d213023f7afbfdc0cb556f4a8">descr_name_</a>;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        <span class="keyword">typedef</span> std::pair&lt;ModelT, std::vector&lt;float&gt; &gt; flann_model;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        <a class="code" href="classflann_1_1_matrix.html">flann::Matrix&lt;float&gt;</a> flann_data_;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        <a class="code" href="classflann_1_1_index.html">flann::Index&lt;DistT&gt;</a> * flann_index_;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        std::vector&lt;flann_model&gt; flann_models_;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        std::vector&lt;int&gt; indices_;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <span class="comment">//load features from disk and create flann structure</span></div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        loadFeaturesAndCreateFLANN ();</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        convertToFLANN (<span class="keyword">const</span> std::vector&lt;flann_model&gt; &amp;models, <a class="code" href="classflann_1_1_matrix.html">flann::Matrix&lt;float&gt;</a> &amp;data)</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        {</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;          data.rows = models.size ();</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;          data.cols = models[0].second.size (); <span class="comment">// number of histogram bins</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;          <a class="code" href="classflann_1_1_matrix.html">flann::Matrix&lt;float&gt;</a> flann_data (<span class="keyword">new</span> <span class="keywordtype">float</span>[models.size () * models[0].second.size ()], models.size (), models[0].second.size ());</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; data.rows; ++i)</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j &lt; data.cols; ++j)</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;            {</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;              flann_data.ptr ()[i * data.cols + j] = models[i].second[j];</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;            }</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;          data = flann_data;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        }</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        nearestKSearch (<a class="code" href="classflann_1_1_index.html">flann::Index&lt;DistT&gt;</a> * index, <span class="keyword">const</span> flann_model &amp;model, <span class="keywordtype">int</span> k, <a class="code" href="classflann_1_1_matrix.html">flann::Matrix&lt;int&gt;</a> &amp;indices, <a class="code" href="classflann_1_1_matrix.html">flann::Matrix&lt;float&gt;</a> &amp;distances);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        <span class="keywordtype">int</span> NN_;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        std::vector&lt;std::string&gt; categories_;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        std::vector&lt;float&gt; confidences_;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        std::string first_nn_category_;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        GlobalNNPipeline ()</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        {</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;          NN_ = 1;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        }</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        ~GlobalNNPipeline ()</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        {</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        }</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        setNN (<span class="keywordtype">int</span> nn)</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        {</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;          NN_ = nn;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        }</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        getCategory (std::vector&lt;std::string&gt; &amp; categories)</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        {</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;          categories = categories_;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        }</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        getConfidence (std::vector&lt;float&gt; &amp; conf)</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        {</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;          conf = confidences_;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        }</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        initialize (<span class="keywordtype">bool</span> force_retrain = <span class="keyword">false</span>);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        classify ();</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00179"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#ab2a56c4a884db25848f104276a5516dd">  179</a></span>&#160;        <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#ab2a56c4a884db25848f104276a5516dd">setDataSource</a> (<span class="keyword">typename</span> boost::shared_ptr&lt;<a class="code" href="classpcl_1_1rec__3d__framework_1_1_source.html">Source&lt;PointInT&gt;</a> &gt; &amp; source)</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        {</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;          source_ = source;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        }</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00189"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#a00c340d5ae4d7866441bc0045e7b1f49">  189</a></span>&#160;        <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#a00c340d5ae4d7866441bc0045e7b1f49">setFeatureEstimator</a> (<span class="keyword">typename</span> boost::shared_ptr&lt;<a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_estimator.html">GlobalEstimator&lt;PointInT, FeatureT&gt;</a> &gt; &amp; feat)</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        {</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;          estimator_ = feat;</div>
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<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        setIndices (std::vector&lt;int&gt; &amp; indices)</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        {</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;          indices_ = indices;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        }</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00204"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#af3d5dfd2311f56dc685db94b5d5b0189">  204</a></span>&#160;        <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#af3d5dfd2311f56dc685db94b5d5b0189">setInputCloud</a> (<span class="keyword">const</span> PointInTPtr &amp; cloud)</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        {</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;          input_ = cloud;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        }</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        setDescriptorName (std::string &amp; name)</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        {</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;          descr_name_ = name;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        }</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        setTrainingDir (std::string &amp; dir)</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;        {</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;          training_dir_ = dir;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        }</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      };</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  }</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;}</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* REC_FRAMEWORK_GLOBAL_PIPELINE_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassflann_1_1_index_html"><div class="ttname"><a href="classflann_1_1_index.html">flann::Index&lt; DistT &gt;</a></div></div>
<div class="ttc" id="aclassflann_1_1_matrix_html"><div class="ttname"><a href="classflann_1_1_matrix.html">flann::Matrix&lt; float &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_global_classifier_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_global_classifier.html">pcl::rec_3d_framework::GlobalClassifier</a></div><div class="ttdef"><b>Definition:</b> global_nn_classifier.h:22</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_global_estimator_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_global_estimator.html">pcl::rec_3d_framework::GlobalEstimator</a></div><div class="ttdef"><b>Definition:</b> global_estimator.h:18</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_global_n_n_pipeline_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html">pcl::rec_3d_framework::GlobalNNPipeline</a></div><div class="ttdoc">Nearest neighbor search based classification of PCL point type features. FLANN is used to identify a ...</div><div class="ttdef"><b>Definition:</b> global_nn_classifier.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_global_n_n_pipeline_html_a00c340d5ae4d7866441bc0045e7b1f49"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#a00c340d5ae4d7866441bc0045e7b1f49">pcl::rec_3d_framework::GlobalNNPipeline::setFeatureEstimator</a></div><div class="ttdeci">void setFeatureEstimator(typename boost::shared_ptr&lt; GlobalEstimator&lt; PointInT, FeatureT &gt; &gt; &amp;feat)</div><div class="ttdoc">Sets the model data source_</div><div class="ttdef"><b>Definition:</b> global_nn_classifier.h:189</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_global_n_n_pipeline_html_a40bbef0581e8fadf85f57c34a4c77e82"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#a40bbef0581e8fadf85f57c34a4c77e82">pcl::rec_3d_framework::GlobalNNPipeline::estimator_</a></div><div class="ttdeci">boost::shared_ptr&lt; GlobalEstimator&lt; PointInT, FeatureT &gt; &gt; estimator_</div><div class="ttdoc">Computes a feature</div><div class="ttdef"><b>Definition:</b> global_nn_classifier.h:90</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_global_n_n_pipeline_html_a5866361f600831b47925886546caaa50"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#a5866361f600831b47925886546caaa50">pcl::rec_3d_framework::GlobalNNPipeline::training_dir_</a></div><div class="ttdeci">std::string training_dir_</div><div class="ttdoc">Directory where the trained structure will be saved</div><div class="ttdef"><b>Definition:</b> global_nn_classifier.h:81</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_global_n_n_pipeline_html_aa54cab49da4a1b5e563cc60985e2591d"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#aa54cab49da4a1b5e563cc60985e2591d">pcl::rec_3d_framework::GlobalNNPipeline::source_</a></div><div class="ttdeci">boost::shared_ptr&lt; pcl::rec_3d_framework::Source&lt; PointInT &gt; &gt; source_</div><div class="ttdoc">Model data source</div><div class="ttdef"><b>Definition:</b> global_nn_classifier.h:87</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_global_n_n_pipeline_html_ab2a56c4a884db25848f104276a5516dd"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#ab2a56c4a884db25848f104276a5516dd">pcl::rec_3d_framework::GlobalNNPipeline::setDataSource</a></div><div class="ttdeci">void setDataSource(typename boost::shared_ptr&lt; Source&lt; PointInT &gt; &gt; &amp;source)</div><div class="ttdoc">Sets the model data source_</div><div class="ttdef"><b>Definition:</b> global_nn_classifier.h:179</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_global_n_n_pipeline_html_aba32b90d213023f7afbfdc0cb556f4a8"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#aba32b90d213023f7afbfdc0cb556f4a8">pcl::rec_3d_framework::GlobalNNPipeline::descr_name_</a></div><div class="ttdeci">std::string descr_name_</div><div class="ttdoc">Descriptor name</div><div class="ttdef"><b>Definition:</b> global_nn_classifier.h:93</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_global_n_n_pipeline_html_af3d5dfd2311f56dc685db94b5d5b0189"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#af3d5dfd2311f56dc685db94b5d5b0189">pcl::rec_3d_framework::GlobalNNPipeline::setInputCloud</a></div><div class="ttdeci">void setInputCloud(const PointInTPtr &amp;cloud)</div><div class="ttdoc">Sets the input cloud to be classified</div><div class="ttdef"><b>Definition:</b> global_nn_classifier.h:204</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_global_n_n_pipeline_html_af742fca9bd7da943d42416549f37fbd5"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#af742fca9bd7da943d42416549f37fbd5">pcl::rec_3d_framework::GlobalNNPipeline::input_</a></div><div class="ttdeci">PointInTPtr input_</div><div class="ttdoc">Point cloud to be classified</div><div class="ttdef"><b>Definition:</b> global_nn_classifier.h:84</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_model_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_model.html">pcl::rec_3d_framework::Model&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_source_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_source.html">pcl::rec_3d_framework::Source</a></div><div class="ttdoc">Abstract data source class, manages filesystem, incremental training, etc.</div><div class="ttdef"><b>Definition:</b> source.h:83</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2common_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2common_8h.html">common.h</a></div></div>
<div class="ttc" id="astructpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline_1_1index__score_html"><div class="ttname"><a href="structpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline_1_1index__score.html">pcl::rec_3d_framework::GlobalNNPipeline::index_score</a></div><div class="ttdef"><b>Definition:</b> global_nn_classifier.h:61</div></div>
<div class="ttc" id="astructpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline_1_1sort_index_scores_html"><div class="ttname"><a href="structpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline_1_1sort_index_scores.html">pcl::rec_3d_framework::GlobalNNPipeline::sortIndexScores</a></div><div class="ttdef"><b>Definition:</b> global_nn_classifier.h:68</div></div>
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